We have annotated twelve stereo highway sequences with ground truth regarding the free space (stixels), some with heavy rain. Find attached the raw image data (rectified pgms, 12bit/px), the ground truth stixels in xml format, the vehicle data (velocity, yaw rate, and timestamp) and the camera geometry along with a description how to use the data. All is offered to download in two zip-files.
The ground truth was acquired with manual annotations and exploiting known ego-motion for static structures. For moving objects, a vehicle tracker  was used with supervision.
If you use the data, please cite the following paper:
 David Pfeiffer, Stefan K. Gehrig, Nicolai Schneider: "Exploiting the Power of Stereo Confidences", Proceedings of the CVPR 2013, Portland, OR, USA [download].
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Stixel Ground Truth Data Set part 1 (good weather): goodWeather.zip (1.6GB)
Stixel Ground Truth Data Set part 2 (bad weather): badWeather.zip (1.5GB)
The provided meta data in xml has the following units:
Velocity/speed : in m/s
Timestamp: in ns
Recording framerate: 25Hz
If you are interested in more detailed ground truth stereo, that covers most of the image, we recommend
the stereo benchmark (and raw data) of the KITTI homepage:
For questions on how to interpret the data: mail stefan.gehrig (at) daimler.com